From 55c3131bc9cbbae928d66e6af427abc90165d7e7 Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Mon, 23 Feb 2026 22:06:35 -0600 Subject: [PATCH] DIAGNOSTIC: waist Kp=200 to test if gain matters at all Co-Authored-By: Claude Opus 4.6 --- .../src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp index e147ab5..86534f6 100644 --- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp +++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp @@ -154,8 +154,8 @@ const std::array kps = { 2.0 * STIFFNESS_5020, // right_ankle_pitch_joint 2.0 * STIFFNESS_5020, // right_ankle_roll_joint STIFFNESS_7520_14, // waist_yaw_joint - 4.0 * STIFFNESS_5020, // waist_roll_joint (2x override for friction compensation) - 4.0 * STIFFNESS_5020, // waist_pitch_joint (2x override for friction compensation) + 200.0, // waist_roll_joint (DIAGNOSTIC: 7x override to test if Kp matters at all) + 200.0, // waist_pitch_joint (DIAGNOSTIC: 7x override to test if Kp matters at all) STIFFNESS_5020, // left_shoulder_pitch_joint STIFFNESS_5020, // left_shoulder_roll_joint STIFFNESS_5020, // left_shoulder_yaw_joint